CN109363890B

CN109363890B - Medical robot for assisting paralytic to recover health

Info

Publication number: CN109363890B
Application number: CN201811386146.9A
Authority: CN
Inventors: 不公告发明人
Original assignee: Individual
Current assignee: Wang Xiuli
Priority date: 2018-11-20
Filing date: 2018-11-20
Publication date: 2021-06-04
Anticipated expiration: 2038-11-20
Also published as: CN109363890A

Abstract

The invention discloses a medical robot for assisting a paralyzed patient to recover health, which comprises a robot body, wherein an installation block is fixed on the robot body, a first servo motor is fixed on the installation block, a rotary table is fixed on an output shaft of the first servo motor, a first driving shaft is fixed on the rotary table, the first driving shaft is fixed on a driving rod through a bearing, a second driving shaft is fixed at one end of the driving rod through a bearing, the second driving shaft is fixed on the lower side of a first sliding block, the first sliding block slides in a first sliding rail, the first sliding rail is arranged on a supporting block, the first sliding block is provided with a front-back swinging driving mechanism, the supporting block is fixed with a first rotating shaft, the first rotating shaft is fixed on a swinging box through a bearing, and the lower end of the swinging box is provided with an up-down swinging driving mechanism. The swing of the paralyzed patient lower limbs in the front direction, the back direction, the upper direction and the lower direction is driven through the structure, and then effective exercise is carried out, the structure is simple, the operation is convenient, and the maneuverability is good.

Description

Medical robot for assisting paralytic to recover health

Technical Field

The invention belongs to the technical field of medical instruments, and particularly relates to a medical robot for assisting a paralyzed patient to recover health.

Background

At present, many people in the society have paralysis caused by various diseases, particularly the proportion of middle-aged and elderly people, and although the scientific technology and the living standard at the present stage are greatly improved, the medical apparatus for treating the diseases and recovering the physical functions is Liao Liao, and particularly no systematic and complete treatment scheme exists for recovering the standing function of the patient, so that the exercise and the recovery of the patient are limited. Because the paralyzed patient can not exercise effectively for a long time, the lower limb lies on the bed for a long time in a static way, and the muscle atrophy can be caused for a long time, so that the patient can not walk for the whole life. In addition, it causes heavy economic burden and physical labor for the family members of the patients. Therefore, the auxiliary exercise of the lower limbs of the paralyzed patient is a necessary measure for the patient to recover the health.

The existing paralytic rehabilitation training device in the market is mostly heavy in size, large in structure, inconvenient to move, inflexible to use and expensive in price, is generally only suitable for hospitals and rehabilitation centers, cannot meet the requirements of families and different patients, is not beneficial to the rehabilitation training of the paralytic patients and influences the recovery of the state of an illness.

Disclosure of Invention

The invention aims to provide a medical robot for assisting a paralyzed patient to recover health, and aims to solve the problems that most of the existing paralyzed patient rehabilitation training devices in the background technology are heavy in size, large in structure, inconvenient to move, inflexible to use and expensive in price.

In order to achieve the purpose, the invention adopts the following technical scheme:

a medical robot assisting recovery of paralyzed patients comprises a robot body, wherein mounting blocks are fixed on two sides of the upper end of the robot body, a first servo motor is fixed on each mounting block, a turntable is fixed at the end part of an output shaft of the first servo motor, a first driving shaft is fixed on one side of the upper end of the turntable, the first driving shaft is fixed on a driving rod through a bearing, a second driving shaft is fixed at one end, away from the first driving shaft, of the driving rod through a bearing, the second driving shaft is fixed on the lower side of one end of a first sliding block, the first sliding block slides in a first sliding rail, the first sliding rail is arranged at the upper end of a supporting block, the supporting block is fixed on the robot body, a front-back swinging driving mechanism is arranged on the first sliding block, a first rotating shaft is fixed in the middle of one side of the supporting block, and the end part of, the lower end of the swinging box is provided with an up-and-down swinging driving mechanism;

the front-back swinging driving mechanism comprises a T-shaped sliding block, the T-shaped sliding block slides in a T-shaped sliding rail, the T-shaped sliding rail is arranged on a first sliding block, a fixed block is fixed at the upper end of the T-shaped sliding block, a connecting shaft is fixed on one side of the fixed block, a roller is mounted at the end part, far away from the fixed block, of the connecting shaft through a bearing, the roller rolls in a sliding chute, and the sliding chute is arranged at the upper end of the swinging box;

the up-and-down swinging driving mechanism comprises a second servo motor, a second rotating shaft is fixed at the end part of an output shaft of the second servo motor, two ends of the second rotating shaft are installed at the lower end of the swinging box through bearings, a cam is fixed in the middle of the second rotating shaft, a pedal plate is arranged at the upper end of the cam, second sliding blocks are arranged at two ends of the pedal plate and slide in second sliding rails, the second sliding rails are arranged on two sides of the inside of the swinging box, and a spring is arranged between the pedal plate and the bottom end of the swinging box.

Preferably, a through hole is formed in the middle of the fixing block, a butterfly bolt is connected to the T-shaped sliding block in a threaded mode, and the butterfly bolt penetrates through the fixing block through the through hole.

Preferably, limiting plates are fixed to the end portions of the two ends of the first sliding block.

Preferably, the pedal plate is provided with anti-skidding lines, one side of the upper portion of the pedal plate is provided with a guide plate, and the guide plate is fixed on the swinging box.

Preferably, a handrail frame is fixed on the machine body, a spongy cushion is sleeved on the outer side of the handrail frame, and a reinforcing rod is fixed in the middle of the handrail frame.

Preferably, a protective cover is arranged on the outer sides of the first servo motor, the rotary disc and the driving rod and fixed on the machine body.

Preferably, the lower end of the machine body is fixed with a self-locking universal wheel.

The invention has the technical effects and advantages that: compared with the prior art, the medical robot for assisting the paralyzed patient to recover the health has the following advantages:

1. the first servo motor drives the rotary table to rotate so as to drive the first driving shaft to rotate, the rotation of the first driving shaft drives the driving rod to move, the movement of the driving rod drives the second driving shaft to move so as to push the first sliding block to slide in the first sliding rail and further drive the fixed block to move, further the fixed block drives the connecting shaft to move, further the roller at the end part of the connecting shaft slides in the sliding groove and further drives the swinging box to rotate around the first rotating shaft so as to realize swinging, and the swinging box is simple in structure and convenient to operate;

2. according to the invention, the T-shaped sliding block is in threaded connection with the butterfly bolt, the butterfly bolt penetrates through the fixed block through the through hole, the T-shaped sliding block and the fixed block are separated and fixed by locking and loosening the butterfly bolt, the T-shaped sliding block is pushed to slide in the T-shaped sliding rail when the T-shaped sliding block and the fixed block are separated, so that the position of the T-shaped sliding block is changed, and then the butterfly bolt is locked to fix the T-shaped sliding block and the fixed block together, so that the adjustment of the swing amplitude of the swing box is realized, different swing amplitudes are adjusted according to different patients, the flexibility of the device is enhanced;

3. according to the invention, the second rotating shaft is driven to rotate by the second servo motor, so that the cam is driven to rotate around the axis of the second rotating shaft, the pedal plate is driven by the cam to move up and down along the second sliding rail, the foot of the patient steps on the pedal plate, the up-and-down swinging of the lower limb of the patient is realized, and a good effect on the recovery of the lower limb joint of the patient is achieved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an isometric view of the present invention;

FIG. 3 is a structural view of the front-rear rocking drive mechanism of the present invention;

FIG. 4 is an exploded view of the front-to-back rocking drive mechanism of the present invention;

FIG. 5 is a first structural view of the up-down rocking drive mechanism of the present invention;

fig. 6 is a second structural view of the vertical swing drive mechanism of the present invention.

Reference numerals: 1. a body; 2. mounting blocks; 3. a first servo motor; 4. a turntable; 5. a first drive shaft; 6. a drive rod; 7. a second drive shaft; 8. a first slider; 9. a first slide rail; 10. a support block; 11. a front and rear swing drive mechanism; 111. a T-shaped slider; 112. a T-shaped slide rail; 113. a fixed block; 114. a connecting shaft; 115. a roller; 116. a through hole; 117. a butterfly bolt; 118. a limiting plate; 119. a chute; 12. a first rotating shaft; 13. shaking the box; 14. an up-and-down swinging driving mechanism; 141. a second servo motor; 142. a second rotating shaft; 143. a cam; 144. a foot pedal; 145. a second slider; 146. a second slide rail; 147. a spring; 148. anti-skid lines; 149. a guide plate; 15. a handrail frame; 16. a sponge cushion; 17. a reinforcing bar; 18. a protective cover; 19. self-locking universal wheel.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The specific embodiments described herein are merely illustrative of the invention and do not delimit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention provides a medical robot for assisting a paralytic to recover health, which comprises a machine body 1, wherein mounting blocks 2 are fixed on two sides of the upper end of the machine body 1, a first servo motor 3 is fixed on the mounting blocks 2, a rotary table 4 is fixed at the end part of an output shaft of the first servo motor 3, a first driving shaft 5 is fixed on one side of the upper end of the rotary table 4, the first driving shaft 5 is fixed on a driving rod 6 through a bearing, a second driving shaft 7 is fixed on one end, far away from the first driving shaft 5, of the driving rod 6 through a bearing, the second driving shaft 7 is fixed on the lower side of one end of a first sliding block 8, the first sliding block 8 slides in a first sliding rail 9, the first sliding rail 9 is arranged at the upper end of a supporting block 10, the supporting block 10 is fixed on the machine body 1, a front-back swinging driving mechanism 11 is arranged on the first sliding block 8, a first rotating shaft 12 is fixed in the middle of one side of the supporting block 10, the end of the first rotating shaft 12 is fixed on a swing box 13 through a bearing, and an up-and-down swing driving mechanism 14 is arranged at the lower end of the swing box 13.

Preferably, the front-back swing driving mechanism 11 includes a T-shaped sliding block 111, the T-shaped sliding block 111 slides in a T-shaped sliding rail 112, the T-shaped sliding rail 112 is disposed on the first sliding block 8, a fixed block 113 is fixed to an upper end of the T-shaped sliding block 111, a connecting shaft 114 is fixed to one side of the fixed block 113, a roller 115 is mounted on an end portion of the connecting shaft 114, which is far away from the fixed block 113, through a bearing, the roller 115 rolls in a sliding groove 119, and the sliding groove 119 is disposed at an upper end of the swing box 13.

Through adopting above-mentioned technical scheme, realized rocking case 13 and waved in front and back direction, and then driven patient's low limbs and waved from beginning to end, it is effectual to sway, and treatment is ideal, simple structure, easy to operate.

Preferably, a through hole 116 is formed in the middle of the fixing block 113, a butterfly bolt 117 is connected to the T-shaped slider 111 through a thread, and the butterfly bolt 117 penetrates through the fixing block 113 through the through hole 116.

By adopting the technical scheme, the T-shaped sliding block 111 and the fixed block 113 are separated and fixed by locking and loosening the butterfly bolt 117, when the T-shaped sliding block 111 and the fixed block 113 are separated, the T-shaped sliding block 111 is pushed to slide in the T-shaped sliding rail 112, the position of the T-shaped sliding block 111 is changed, then the butterfly bolt 117 is locked to fix the T-shaped sliding block 111 and the fixed block 113 together, the adjustment of the swing amplitude of the swing box 13 is realized, different swing amplitudes are adjusted according to different patients, the flexibility of the device is enhanced, and the auxiliary effect is good.

Preferably, the two ends of the first sliding block 8 are fixed with limit plates 118.

Through adopting above-mentioned technical scheme, the setting of limiting plate 118 prevents T type slider 111 roll-off T type slide rail 112, plays spacing guard action.

Preferably, the up-and-down swinging driving mechanism 14 includes a second servo motor 141, a second rotating shaft 142 is fixed to an end portion of an output shaft of the second servo motor 141, two ends of the second rotating shaft 142 are mounted at a lower end of the swinging box 13 through bearings, a cam 143 is fixed to a middle of the second rotating shaft 142, a pedal 144 is disposed at an upper end of the cam 143, second sliders 145 are disposed at two ends of the pedal 144, the second sliders 145 slide in second slide rails 146, the second slide rails 146 are disposed at two sides of an interior of the swinging box 13, and a spring 147 is disposed between the pedal 144 and a bottom end of the swinging box 13.

By adopting the technical scheme, the up-and-down swing of the lower limbs of the patient is realized, and a good effect is achieved on the recovery of the lower limb joints of the patient.

Preferably, the pedal 144 is provided with an anti-slip pattern 148, and a guide plate 149 is arranged on one side above the pedal 144, and the guide plate 149 is fixed on the swing box 13.

Through adopting above-mentioned technical scheme, the frictional force of increase patient's sole and running-board 144 of setting up of antiskid line 148 prevents to skid, convenient to use, and the setting up of deflector 149 makes things convenient for patient's foot to put into on running-board 144, plays the spacing effect of direction.

Preferably, a handrail frame 15 is fixed on the machine body 1, a sponge mat 16 is sleeved outside the handrail frame 15, and a reinforcing rod 17 is fixed in the middle of the handrail frame 15.

Through adopting above-mentioned technical scheme, the setting up of handrail frame 15 makes things convenient for the patient to hand on handrail frame 15, and the patient of being convenient for stands, and the setting up of foam-rubber cushion 16 makes the flexible contact between hand and the handrail frame 15, increases the comfort level of patient's hand, and the setting up of stiffener 17 strengthens handrail frame 15's fastness.

Preferably, a protective cover 18 is arranged outside the first servo motor 3, the rotary disc 4 and the driving rod 6, and the protective cover 18 is fixed on the machine body 1.

Through adopting above-mentioned technical scheme, the setting up of safety cover 18 makes first servo motor 3, carousel 4 and actuating lever 6 keep apart with the external world, prevents that the patient from touching the running part and bringing the injury, plays the guard action.

Preferably, a self-locking universal wheel 19 is fixed at the lower end of the machine body 1.

By adopting the technical scheme, the self-locking universal wheel 19 is convenient to move and fix, and the mobility and flexibility of the device are enhanced.

The working principle is as follows: two feet of a patient step on a pedal plate 144 at the lower end of the swinging box 13 respectively, the patient holds the hand on the armrest frame 15, then the lower limb of the patient stands on the swinging box 13, the first servo motor 3 is started, then the first servo motor 3 drives the rotary table 4 to rotate, further the first driving shaft 5 is driven to rotate, the driving rod 6 is driven to move by the rotation of the first driving shaft 5, the second driving shaft 7 is driven to move by the movement of the driving rod 6, further the first sliding block 8 is driven to slide in the first sliding rail 9, further the fixed block 113 is driven to move, further the fixed block 113 drives the connecting shaft 114 to move, further the roller 115 at the end part of the connecting shaft 114 slides in the sliding groove 119, further the swinging box 13 is driven to rotate around the first rotating shaft 12, and further;

meanwhile, the second servo motor 141 is started, so that the second servo motor 141 drives the second rotating shaft 142 to rotate, the cam 143 is driven to rotate around the axis of the second rotating shaft 142, the cam 143 drives the pedal plate 144 to move up and down along the second sliding rail 146, and the feet of the patient are driven to move up and down along the pedal plate 144, so that the lower limbs of the patient swing up and down, and the training assistance is realized by swinging the lower limbs of the paralyzed patient in the front and back directions and in the up and down directions;

the front-back and up-down swinging frequency can be changed by adjusting the rotating speed of the first servo motor 3 and the second servo motor 141, if the front-back swinging amplitude needs to be adjusted, the butterfly bolt 117 is loosened, the T-shaped sliding block 111 and the fixed block 113 are separated, the T-shaped sliding block 111 is pushed to slide in the T-shaped sliding rail 112 after the T-shaped sliding block 111 and the fixed block 113 are separated, the position of the T-shaped sliding block 111 is changed, then the butterfly bolt 117 is locked to fix the T-shaped sliding block 111 and the fixed block 113 together, and the front-back swinging amplitude of the swinging box 13 is adjusted.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a supplementary paralysed patient resumes healthy medical robot, includes fuselage (1), its characterized in that: the device is characterized in that mounting blocks (2) are fixed on two sides of the upper end of the machine body (1), a first servo motor (3) is fixed on each mounting block (2), a rotary table (4) is fixed at the end part of an output shaft of each first servo motor (3), a first driving shaft (5) is fixed on one side of the upper end of each rotary table (4), each first driving shaft (5) is fixed on a driving rod (6) through a bearing, a second driving shaft (7) is fixed at one end, far away from the first driving shaft (5), of each driving rod (6) through a bearing, each second driving shaft (7) is fixed on the lower side of one end of each first sliding block (8), each first sliding block (8) slides in a first sliding rail (9), each first sliding rail (9) is arranged at the upper end of a supporting block (10), each supporting block (10) is fixed on the machine body (1), and each first sliding block (8) is provided with a front-, a first rotating shaft (12) is fixed in the middle of one side of the supporting block (10), the end part of the first rotating shaft (12) is fixed on a swinging box (13) through a bearing, and an up-and-down swinging driving mechanism (14) is arranged at the lower end of the swinging box (13);

the front-back swinging driving mechanism (11) comprises a T-shaped sliding block (111), the T-shaped sliding block (111) slides in a T-shaped sliding rail (112), the T-shaped sliding rail (112) is arranged on a first sliding block (8), a fixed block (113) is fixed at the upper end of the T-shaped sliding block (111), a connecting shaft (114) is fixed on one side of the fixed block (113), a roller (115) is installed at one end part, far away from the fixed block (113), of the connecting shaft (114) through a bearing, the roller (115) rolls in a sliding chute (119), and the sliding chute (119) is arranged at the upper end of the swinging box (13);

the up-and-down swinging driving mechanism (14) comprises a second servo motor (141), a second rotating shaft (142) is fixed at the end part of an output shaft of the second servo motor (141), two ends of the second rotating shaft (142) are installed at the lower end of the swinging box (13) through bearings, a cam (143) is fixed in the middle of the second rotating shaft (142), a pedal (144) is arranged at the upper end of the cam (143), second sliding blocks (145) are arranged at two ends of the pedal (144), the second sliding blocks (145) slide in second sliding rails (146), the second sliding rails (146) are arranged at two sides in the swinging box (13), and a spring (147) is arranged between the pedal (144) and the bottom end of the swinging box (13).

2. The medical robot for assisting the recovery of the health of the paralyzed patient according to claim 1, wherein: the middle of the fixing block (113) is provided with a through hole (116), the T-shaped sliding block (111) is in threaded connection with a butterfly bolt (117), and the butterfly bolt (117) penetrates through the fixing block (113) through the through hole (116).

3. The medical robot for assisting the recovery of the health of the paralyzed patient according to claim 1, wherein: limiting plates (118) are fixed at the end parts of the two ends of the first sliding block (8).

4. The medical robot for assisting the recovery of the health of the paralyzed patient according to claim 1, wherein: the anti-skidding lines (148) are arranged on the pedal plate (144), a guide plate (149) is arranged on one side above the pedal plate (144), and the guide plate (149) is fixed on the swinging box (13).

5. The medical robot for assisting the recovery of the health of the paralyzed patient according to claim 1, wherein: the portable multifunctional handrail is characterized in that a handrail frame (15) is fixed on the machine body (1), a spongy cushion (16) is sleeved on the outer side of the handrail frame (15), and a reinforcing rod (17) is fixed in the middle of the handrail frame (15).

6. The medical robot for assisting the recovery of the health of the paralyzed patient according to claim 1, wherein: the first servo motor (3), the rotary table (4) and the driving rod (6) are arranged on the outer side of the protective cover (18), and the protective cover (18) is fixed on the machine body (1).

7. The medical robot for assisting the recovery of the health of the paralyzed patient according to claim 1, wherein: the lower end of the machine body (1) is fixed with a self-locking universal wheel (19).